Spacecraft optical measurement system and measurement methods

Abstract

This application relates to the field of aerospace technology, specifically to a spacecraft optical measurement system and method, including a truss module, a measurement platform, a two-dimensional rotating standard target scale, a robotic arm, and a theodolite. The robotic arm is mounted on the truss module, the theodolite is mounted on the robotic arm, and the two-dimensional rotating standard target scale is mounted on the measurement platform. The measurement platform is used to place the satellite being measured. The robotic arm is used to move the theodolite, and the measurement platform is used to move both the robotic arm and the theodolite. The theodolite is used to observe the two-dimensional rotating standard target scale and the satellite being measured. The purpose of this application is to provide a spacecraft optical measurement system and method that addresses at least one of the technical problems mentioned in the background art.

Description

Technical Field

[0001] This application relates to the field of aerospace technology, and more specifically, to a spacecraft optical measurement system and measurement method. Background Technology

[0002] The spatial intersection method used in traditional spacecraft optical measurement involves connecting multiple theodolites, calibration scales, industrial computers, and post-processing software. It utilizes mathematical relationships and geometric formulas, combined with the position coordinates and observation angles of each theodolite, to calculate the three-dimensional coordinates of the target point in a rectangular coordinate system, thereby determining the installation matrix of the target. This method requires at least two theodolites, resulting in inefficient use of optical measurement equipment. Summary of the Invention

[0003] The purpose of this application is to provide a spacecraft optical measurement system and measurement method to address at least one of the technical problems involved in the background art.

[0004] To achieve the above objectives, this application adopts the following technical solution: One aspect of this application provides a spacecraft optical measurement system, including a truss module, a measurement stage, a two-dimensional rotating standard target scale, a robotic arm, and a theodolite. The robotic arm is mounted on the truss module, the theodolite is mounted on the robotic arm, and the two-dimensional rotating standard target scale is mounted on the measuring platform. The measuring platform is used to place the satellite being measured. The robotic arm is used to move the theodolite, the measuring platform is used to move the robotic arm and the theodolite, and the theodolite is used to observe the two-dimensional rotating standard target scale and the measured satellite.

[0005] Optionally, the two-dimensional rotating standard target scale includes a base, a rotation drive, a connecting rod, and two calibration prisms. The rotation drive is mounted on the base, the connecting rod is horizontally positioned, and the rotating drive is used to drive the connecting rod to rotate in the horizontal plane. The two calibration prisms are installed at both ends of the connecting rod in a corresponding manner.

[0006] The beneficial effects of this technical solution are as follows: a two-dimensional rotating standard target ruler with known geometric dimensions and known position is placed on the measuring platform. Before the theodolite measures the satellite being measured, it first observes multiple known target points on this two-dimensional rotating standard target ruler. By observing these known target points, the transformation relationship (coordinate system registration) between the measuring platform coordinate system and the theodolite coordinate system can be accurately established. The known dimensions and rotation capability of the two-dimensional rotating standard target ruler provide powerful constraint and calibration functions, ensuring the accuracy of the spacecraft optical measurement system provided in this application, and enabling the conversion of the angle data of the workpiece on the measured satellite to the coordinate system of the measuring platform.

[0007] Optionally, the two-dimensional rotating standard target scale further includes a connecting block, which is mounted on the output shaft of the rotating drive component. The connecting block is provided with a mounting through hole, which is axially horizontal. The connecting rod is detachably mounted in the mounting through hole.

[0008] The beneficial effect of this technical solution is that the connecting rod can be disassembled during the transportation of the two-dimensional rotating standard target ruler, and then installed on the connecting block at the designated location, thereby improving the convenience of transporting the two-dimensional rotating standard target ruler.

[0009] Optionally, the truss module includes a first horizontal guide rail, a second horizontal guide rail, a guide rail drive, and a robotic arm drive. The first horizontal guide rail and the second horizontal guide rail are both horizontally arranged, and the length directions of the first horizontal guide rail and the second horizontal guide rail are perpendicular to each other. The second horizontal guide rail is mounted on the first horizontal guide rail via the guide rail drive, and the guide rail drive is used to drive the second horizontal guide rail to move along the first horizontal guide rail. The robotic arm is mounted on the second horizontal guide rail via the robotic arm drive, and the robotic arm drive is used to drive the robotic arm to move along the second horizontal guide rail.

[0010] The beneficial effect of this technical solution is that the movement of the robotic arm and the theodolite in the horizontal plane is realized through the first horizontal guide rail, the second horizontal guide rail, and the corresponding driving components.

[0011] Optionally, the truss module includes two first horizontal guide rails, the measurement platform is located between the two first horizontal guide rails, and the measurement platform is located below the first horizontal guide rails and the second horizontal guide rails; and / or, the spacecraft optical measurement system further includes a transport vehicle for transporting the satellite being measured.

[0012] The beneficial effect of this technical solution is that using a transport vehicle can improve the automation level of the spacecraft's optical measurement system.

[0013] Another aspect of this application provides a spacecraft optical measurement method, implemented using the spacecraft optical measurement system provided in this application; the measurement method includes: The robotic arm is controlled to move the theodolite to multiple different calibration positions; at each calibration position, the theodolite is controlled to observe at least two known calibration points on the two-dimensional rotating standard target scale to obtain observation data for establishing the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system, thereby obtaining the transformation relationship; The robotic arm is controlled to move the theodolite sequentially to the first measurement position and the second measurement position, and the same target point on the satellite being measured is observed at the first measurement position and the second measurement position respectively, so as to obtain the observation data of the target point at the first measurement position and the second measurement position; Based on the transformation relationship and the observation data of the target point, the three-dimensional coordinates of the target point in the coordinate system of the measuring platform are calculated using the principle of spatial ray intersection.

[0014] Optionally, the observation data includes: the orientation information of the calibration point in the theodolite coordinate system; Correspondingly, the acquisition of observation data used to establish the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system includes: At each calibration location, obtain the orientation information of each calibration point in the theodolite coordinate system; Based on the known coordinates of each calibration point in the measuring platform coordinate system and the direction information, the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system is calculated.

[0015] Optionally, the two-dimensional rotating standard target scale includes a horizontally arranged connecting rod and two calibration prisms installed at both ends of the connecting rod in a one-to-one correspondence, wherein the calibration point is the center of the calibration prism; the connecting rod is used to rotate in the horizontal plane to change the spatial orientation of the two calibration prisms.

[0016] The beneficial effects of this technical solution are as follows: by using a horizontally rotatable connecting rod as a scale, multiple known point data can be provided in multiple directions by rotating only two prisms, which enhances the constraints of coordinate system calculation and improves the calibration accuracy of spacecraft optical measurement methods.

[0017] Optionally, the calculation of the three-dimensional coordinates of the target point in the coordinate system of the measuring platform based on the transformation relationship and the observation data of the target point using the principle of spatial ray intersection includes: The orientation information of the target point at the first measurement position and the second measurement position is transformed to the coordinate system of the measurement platform based on the transformation relationship to obtain the first spatial ray and the second spatial ray; Calculate the intersection point of the first spatial ray and the second spatial ray in the coordinate system of the measuring platform. The coordinates of this intersection point are the three-dimensional coordinates of the target point.

[0018] Optionally, before the control robotic arm moves the theodolite to multiple different calibration positions, the method further includes: Hand-eye calibration is performed between the robotic arm and the theodolite to determine the fixed pose of the theodolite relative to the end of the robotic arm; The theodolite itself is controlled to perform internal parameter calibration.

[0019] The beneficial effect of this technical solution is that it further improves the accuracy of spacecraft optical measurements.

[0020] The technical solution provided in this application can achieve at least one of the following beneficial effects: The spacecraft optical measurement system and method provided in this application, when in use, use a theodolite moved by a truss module and a robotic arm to observe the same target point from different positions, thereby obtaining the three-dimensional coordinates of the target point. Compared with the prior art which uses at least two theodolites, this improves the utilization rate of optical measurement equipment.

[0021] The additional technical features and advantages of this application will become more apparent from the following description or from practical application. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the specific embodiments of this application, the accompanying drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 A schematic diagram of one embodiment of the spacecraft optical measurement system provided in this application; Figure 2 A schematic diagram of one embodiment of the two-dimensional rotating standard target ruler provided in this application; Figure 3 This is a flowchart illustrating one implementation of the spacecraft optical measurement method provided in this application.

[0024] Figure label: 01. First horizontal guide rail; 02. Second horizontal guide rail; 03. Theodolite; 04. Robotic arm; 05. The satellite being measured; 06. The measuring platform; 07. Transport trolley; 08. Two-dimensional rotating standard target scale; 9. Calibration prism; 10. Connecting block; 11. Connecting rod; 12. Rotation drive component; 13. Base. Detailed Implementation

[0025] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] like Figure 1 and Figure 2 As shown, one aspect of this application provides a spacecraft optical measurement system, including a truss module, a measurement platform 06, a two-dimensional rotating standard target scale 08, a robotic arm 04, and a theodolite 03. The robotic arm 04 is mounted on the truss module, the theodolite 03 is mounted on the robotic arm 04, and the two-dimensional rotating standard target scale 08 is mounted on the measuring platform 06. The measuring platform 06 is used to place the satellite 05 to be measured. The robotic arm 04 is used to move the theodolite 03, the measuring platform 06 is used to move the robotic arm 04 and the theodolite 03, and the theodolite 03 is used to observe the two-dimensional rotating standard target scale 08 and the measured satellite 05.

[0029] The spacecraft optical measurement system provided in this application, when in use, moves the theodolite 03 through the truss module and the robotic arm 04 to observe the same target point from different positions, thereby obtaining the three-dimensional coordinates of the target point. Compared with the prior art which uses at least two theodolites 03, this improves the utilization rate of the optical measurement equipment.

[0030] Optionally, the two-dimensional rotating standard target scale 08 includes a base 13, a rotation drive 12, a connecting rod 11, and two calibration prisms 09. The rotation drive 12 is mounted on the base 13, the connecting rod 11 is horizontally arranged, and the connecting rod 11 is mounted on the rotation drive 12. The rotation drive 12 is used to drive the connecting rod 11 to rotate in the horizontal plane, and the two calibration prisms 09 are installed at both ends of the connecting rod 11 in a one-to-one correspondence. A two-dimensional rotating standard target ruler 08 with known geometric dimensions and known position is placed on the measuring platform 06. Before measuring the measured satellite 05, the theodolite 03 observes multiple known target points on this two-dimensional rotating standard target ruler 08. By observing these known target points, the transformation relationship (coordinate system registration) between the coordinate system of the measuring platform 06 and the coordinate system of the theodolite 03 can be accurately established. The known dimensions and rotation capability of the two-dimensional rotating standard target ruler 08 provide powerful constraint and calibration functions, ensuring the accuracy of the spacecraft optical measurement system provided in this application, and can convert the angle data of the workpiece on the measured satellite 05 to the coordinate system of the measuring platform 06.

[0031] Optionally, the two-dimensional rotating standard target ruler 08 further includes a connecting block 10, which is mounted on the output shaft of the rotation drive component 12. The connecting block 10 has a mounting through hole, which is axially horizontal. The connecting rod 11 is detachably mounted in the mounting through hole. In this way, the connecting rod 11 can be detached during transport of the two-dimensional rotating standard target ruler 08 and then reattached to the connecting block 10 at a designated location, thereby improving the ease of transporting the two-dimensional rotating standard target ruler 08.

[0032] Optionally, the truss module includes a first horizontal guide rail 01, a second horizontal guide rail 02, a guide rail drive, and a robotic arm drive. Both the first horizontal guide rail 01 and the second horizontal guide rail 02 are horizontally arranged. The length directions of the first horizontal guide rail 01 and the second horizontal guide rail 02 are perpendicular to each other. The second horizontal guide rail 02 is mounted to the first horizontal guide rail 01 via the guide rail drive, which drives the second horizontal guide rail 02 to move along the first horizontal guide rail 01. The robotic arm 04 is mounted to the second horizontal guide rail 02 via the robotic arm drive, which drives the robotic arm 04 to move along the second horizontal guide rail 02. The movement of the robotic arm 04 and the theodolite 03 in the horizontal plane is achieved through the first horizontal guide rail 01, the second horizontal guide rail 02, and the corresponding drive. In this embodiment, each drive can be a servo motor.

[0033] Optionally, the truss module includes two first horizontal guide rails 01, the measuring platform 06 is located between the two first horizontal guide rails 01, and the measuring platform 06 is located below the first horizontal guide rails 01 and the second horizontal guide rails 02; and / or, the spacecraft optical measurement system further includes a transport vehicle 07, the transport vehicle 07 being used to transport the measured satellite 05. In this embodiment, setting two first horizontal guide rails 01 can improve the stability of the movement of the second horizontal guide rail 02, the robotic arm 04, and the theodolite 03, thereby improving the measurement accuracy of the spacecraft optical measurement system provided in this application. Using a transport vehicle 07 can improve the automation level of the spacecraft optical measurement system. Preferably, the transport vehicle 07 is an AGV transfer vehicle.

[0034] In this embodiment, the truss module performs high-precision positioning and servo control. Its working principle is based on Cartesian coordinate motion. The control system issues commands, and the servo motor drives the coordinated movement of each axis. The actuator completes the actions of grabbing, transporting and placing materials according to the preset path. The truss module realizes the movement of the X-axis, Y-axis and Z-axis. As a large-range displacement mechanism, based on the Cartesian coordinate motion principle, it is responsible for transporting the entire measurement terminal to the designated working quadrant around the spacecraft.

[0035] The robotic arm, employing six degrees of freedom, serves as the end effector. Equipped with a theodolite, its flexible joints allow it to navigate around attachments on the surface of spacecraft such as satellites (e.g., antennas, solar panel supports), reaching into structural gaps or shaded areas inaccessible to traditional equipment. The robotic arm provides the basis for displacement rendezvous, replacing a second theodolite. High absolute positioning accuracy is required; any pose error will directly affect measurement accuracy.

[0036] The precise positioning measurement platform ensures the stability of the measured satellite and the accuracy of the coordinate reference. The stability and accuracy of the platform are the guarantee of measurement reliability.

[0037] A two-dimensional rotating standard target ruler with known geometric dimensions and position is placed on the measuring platform (the connecting rod is a standard rod of fixed length). Before measuring the target workpiece, the theodolite observes multiple target points on this rotating target ruler.

[0038] The transport vehicle uses an AGV (Automated Guided Vehicle) to transport the satellite to be measured to the measurement platform, ensuring the stability of the measurement benchmark.

[0039] By issuing preset path commands through the control system, the servo motors drive the axes to move in coordination, achieving unattended automatic target point finding and focusing.

[0040] like Figure 3 As shown, another aspect of this application provides a spacecraft optical measurement method, implemented using the spacecraft optical measurement system provided in this application; the measurement method includes: Step 100: Control the robotic arm to move the theodolite to multiple different calibration positions; at each calibration position, control the theodolite to observe at least two known calibration points on the two-dimensional rotating standard target scale to obtain observation data for establishing the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system, and then obtain the transformation relationship; Step 200: Control the robotic arm to move the theodolite to the first measurement position and the second measurement position in sequence, and observe the same target point on the satellite being measured at the first measurement position and the second measurement position respectively, so as to obtain the observation data of the target point at the first measurement position and the second measurement position; Step 300: Based on the transformation relationship and the observation data of the target point, calculate the three-dimensional coordinates of the target point in the coordinate system of the measuring platform using the principle of spatial ray intersection.

[0041] The principle of spatial ray intersection refers to the fact that by observing the same unknown point from two different known positions, two spatial rays pointing towards it are obtained, and the mathematical intersection of these two rays is the three-dimensional coordinate of that point.

[0042] The spacecraft optical measurement method provided in this application is implemented using the spacecraft optical measurement system provided in this application. By moving the theodolite through the truss module and the robotic arm, the same target point is observed from different positions, thereby obtaining the three-dimensional coordinates of the target point. Compared with the prior art which uses at least two theodolites, this method improves the utilization rate of optical measurement equipment.

[0043] Optionally, the observation data includes: the orientation information of the calibration point in the theodolite coordinate system; Correspondingly, the acquisition of observation data used to establish the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system includes: At each calibration location, obtain the orientation information of each calibration point in the theodolite coordinate system; Based on the known coordinates of each calibration point in the measuring platform coordinate system and the direction information, the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system is calculated.

[0044] Optionally, the two-dimensional rotating standard target scale includes a horizontally positioned connecting rod and two calibration prisms installed at opposite ends of the connecting rod, with the calibration point being the center of each calibration prism. The connecting rod is used to rotate in the horizontal plane to change the spatial orientation of the two calibration prisms. By using a horizontally rotatable connecting rod as the scale, multiple known point data can be provided in multiple directions using only two prisms through rotation, enhancing the constraints of coordinate system calculation and improving the calibration accuracy of spacecraft optical measurement methods.

[0045] Optionally, the calculation of the three-dimensional coordinates of the target point in the coordinate system of the measuring platform based on the transformation relationship and the observation data of the target point using the principle of spatial ray intersection includes: The orientation information of the target point at the first measurement position and the second measurement position is transformed to the coordinate system of the measurement platform based on the transformation relationship to obtain the first spatial ray and the second spatial ray; Calculate the intersection point of the first spatial ray and the second spatial ray in the coordinate system of the measuring platform. The coordinates of this intersection point are the three-dimensional coordinates of the target point.

[0046] Optionally, before the control robotic arm moves the theodolite to multiple different calibration positions, the method further includes: Hand-eye calibration is performed between the robotic arm and the theodolite to determine the fixed pose of the theodolite relative to the end of the robotic arm; The theodolite itself is controlled to perform internal parameter calibration. This further improves the accuracy of spacecraft optical measurements.

[0047] An application example of the spacecraft optical measurement system and measurement method provided in this application includes: Regional environment modeling and path pre-setting spatial scanning: Before the measurement begins, the system combines the CAD model of the spacecraft to pre-set a safe path for the robotic arm to enter the complex area.

[0048] Interference check: Calculate the distance between the robotic arm and spacecraft surface components to ensure that no collisions occur when entering areas that are difficult to observe.

[0049] Global coarse positioning of the truss across the field: The truss module moves the robotic arm and the theodolite to the top or side of the target area according to the instructions of the control system.

[0050] Reference locking: The servo motor locks the position, ensuring the gantry provides a stable and rigid measurement platform. The robotic arm performs precise local extension.

[0051] Posture adjustment: The robotic arm performs specific joint movements to precisely deliver the theodolite into the "window" or concealed part of a complex structure.

[0052] Multi-point deployment: The robotic arm moves the theodolite to two independent and precise positions, replacing the two theodolites distributed in different locations in traditional surveying.

[0053] Automatic observation and coordinate transformation ray acquisition: Under each preset pose, the theodolite automatically captures the target point and generates a direction vector.

[0054] Dynamic registration: Using the known geometric dimensions provided by the two-dimensional rotating standard target ruler, the relationship between the coordinate system of the robotic arm end effector and the coordinate system of the platform is calibrated in real time to eliminate the cumulative error during the movement process.

[0055] Automatic reset and data aggregation, exiting along the original path: After completing the measurement, the robotic arm automatically exits the complex area along the reverse path.

[0056] Solution output: The system automatically calculates the intersection of the two spatial rays and outputs the three-dimensional coordinates of the concealed target point.

[0057] The spacecraft optical measurement system and measurement method provided in this application not only break through the limitations of physical obstruction, but also achieve a qualitative change from "manual aiming" to "program-driven".

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A spacecraft optical measurement system, characterized in that, Includes a truss module, measuring platform, two-dimensional rotating standard target scale, robotic arm, and theodolite. The robotic arm is mounted on the truss module, the theodolite is mounted on the robotic arm, and the two-dimensional rotating standard target scale is mounted on the measuring platform. The measuring platform is used to place the satellite being measured. The robotic arm is used to move the theodolite, the measuring platform is used to move the robotic arm and the theodolite, and the theodolite is used to observe the two-dimensional rotating standard target scale and the measured satellite.

2. The spacecraft optical measurement system according to claim 1, characterized in that, The two-dimensional rotating standard target scale includes a base, a rotation drive, a connecting rod, and two calibration prisms. The rotation drive is mounted on the base, the connecting rod is horizontally positioned, and the rotating drive is used to drive the connecting rod to rotate in the horizontal plane. The two calibration prisms are installed at both ends of the connecting rod in a corresponding manner.

3. The spacecraft optical measurement system according to claim 2, characterized in that, The two-dimensional rotating standard target scale also includes a connecting block, which is installed on the output shaft of the rotating drive component. The connecting block is provided with a mounting through hole, which is axially horizontal. The connecting rod is detachably installed in the mounting through hole.

4. The spacecraft optical measurement system according to any one of claims 1 to 3, characterized in that, The truss module includes a first horizontal guide rail, a second horizontal guide rail, a guide rail drive, and a robotic arm drive. The first and second horizontal guide rails are both horizontally arranged, and the length directions of the first and second horizontal guide rails are perpendicular to each other. The second horizontal guide rail is mounted on the first horizontal guide rail via the guide rail drive, and the guide rail drive is used to drive the second horizontal guide rail to move along the first horizontal guide rail. The robotic arm is mounted on the second horizontal guide rail via the robotic arm drive, and the robotic arm drive is used to drive the robotic arm to move along the second horizontal guide rail.

5. The spacecraft optical measurement system according to claim 4, characterized in that, The truss module includes two first horizontal guide rails, the measurement platform is located between the two first horizontal guide rails, and the measurement platform is located below the first horizontal guide rails and the second horizontal guide rails; and / or, the spacecraft optical measurement system further includes a transport vehicle for transporting the satellite being measured.

6. A spacecraft optical measurement method, characterized in that, The measurement is achieved using the spacecraft optical measurement system as described in any one of claims 1 to 5; the measurement method includes: The robotic arm is controlled to move the theodolite to multiple different calibration positions; at each calibration position, the theodolite is controlled to observe at least two known calibration points on the two-dimensional rotating standard target scale to obtain observation data for establishing the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system, thereby obtaining the transformation relationship; The robotic arm is controlled to move the theodolite sequentially to the first measurement position and the second measurement position, and the same target point on the satellite being measured is observed at the first measurement position and the second measurement position respectively, so as to obtain the observation data of the target point at the first measurement position and the second measurement position; Based on the transformation relationship and the observation data of the target point, the three-dimensional coordinates of the target point in the coordinate system of the measuring platform are calculated using the principle of spatial ray intersection.

7. The spacecraft optical measurement method according to claim 6, characterized in that, The observation data includes: the orientation information of the calibration point in the theodolite coordinate system; Correspondingly, the acquisition of observation data used to establish the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system includes: At each calibration location, obtain the orientation information of each calibration point in the theodolite coordinate system; Based on the known coordinates of each calibration point in the measuring platform coordinate system and the direction information, the transformation relationship between the theodolite coordinate system and the measuring platform coordinate system is calculated.

8. The spacecraft optical measurement method according to claim 7, characterized in that, The two-dimensional rotating standard target scale includes a horizontally arranged connecting rod and two calibration prisms installed at both ends of the connecting rod in a one-to-one correspondence. The calibration point is the center of the calibration prism. The connecting rod is used to rotate in the horizontal plane to change the spatial orientation of the two calibration prisms.

9. The spacecraft optical measurement method according to claim 7 or 8, characterized in that, The calculation of the three-dimensional coordinates of the target point in the coordinate system of the measuring platform based on the transformation relationship and the observation data of the target point, using the principle of spatial ray intersection, includes: The orientation information of the target point at the first measurement position and the second measurement position is transformed to the coordinate system of the measurement platform based on the transformation relationship to obtain the first spatial ray and the second spatial ray; Calculate the intersection point of the first spatial ray and the second spatial ray in the coordinate system of the measuring platform. The coordinates of this intersection point are the three-dimensional coordinates of the target point.

10. The spacecraft optical measurement method according to claim 6, characterized in that, Before the control robotic arm moves the theodolite to multiple different calibration positions, the method further includes: Hand-eye calibration is performed between the robotic arm and the theodolite to determine the fixed pose of the theodolite relative to the end of the robotic arm; The theodolite itself is controlled to perform internal parameter calibration.

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